Unmanned aerial vehicle line-imitating flight waypoint searching method, route planning method and system

Abstract

The invention discloses an unmanned aerial vehicle line-imitating flight waypoint searching method, an unmanned aerial vehicle line-imitating flight route planning method and an unmanned aerial vehicle line-imitating flight route planning system, and the method comprises the steps: firstly, obtaining a center line discrete point sequence of an inspection road, and setting a waypoint spacing of a line-imitating flight route; and then determining a direction vector of the broken line segment to be searched according to the center line discrete point sequence. And then, according to the current waypoint coordinate, the direction vector and the waypoint spacing, determining the coordinate of a candidate waypoint, and verifying whether the candidate waypoint is on the broken line segment to be searched or not. If yes, the candidate waypoints are included in the waypoint set, and the candidate waypoints serve as the current waypoint to continue to search for the next waypoint. And if not, calculating the remaining distance which needs to be moved subsequently after moving to the terminal point of the broken line segment to be searched, and searching out the target line segment. And finally, searching the waypoints meeting the waypoint spacing by combining the direction vector and the starting point coordinate of the target line segment and the residual distance. Therefore, the line-imitating routing inspection waypoints are automatically generated, and the line-imitating flight routing inspection route planning efficiency of the unmanned aerial vehicle on the long linear road is improved.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional channel control technology, and in particular to a method for searching waypoints for unmanned aerial vehicle (UAV) linear flight, a method for planning a route, and a system for planning a route. Background Art

[0002] Traditional drone road inspection routes are typically planned manually, point by point. This makes route planning complex for long, linear road inspections. This requires high levels of expertise from route planners, and the system cannot automatically adjust the flight yaw angle based on the road's direction. This can lead to angular deviations between the image and the road's direction, incomplete coverage of two-way lanes, and other issues. Furthermore, the system cannot correlate the drone's position with road vector data to automatically calculate flight parameters, making it prone to deviation from the inspection target on curves and forks. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the present invention proposes a method and system for searching waypoints for UAV linear flight, a route planning method, and a system for UAV linear flight, which can improve the efficiency of route planning for UAV linear flight inspections on long linear roads. The specific technical solution is as follows: In a first aspect, a method for searching waypoints for a UAV's linear flight is provided. In a first possible implementation of the first aspect, the method includes: Obtain the centerline discrete point sequence and waypoint spacing of the inspection road; According to the corresponding endpoint coordinates in the centerline discrete point sequence, the direction vector of the polyline segment to be searched is determined. The polyline segment to be searched is the polyline segment of the road centerline where the current waypoint is located. The current waypoint is the most recently searched waypoint. Based on the current waypoint coordinates, combined with the direction vector and the waypoint distance, the candidate waypoint coordinates are determined. The specific calculation formula is as follows: ; in, is the current waypoint coordinate, is the waypoint distance, is the direction vector; Verify whether the candidate waypoint is located on the polyline segment to be searched according to the candidate waypoint coordinates; In response to the candidate waypoint being located on the to-be-searched polyline segment, taking the candidate waypoint as a new current waypoint, and continuing to search for the next waypoint based on the new current waypoint coordinates; In response to the candidate waypoint not being located on the to-be-searched polyline segment, calculating a remaining distance to be subsequently moved after moving along the to-be-searched polyline segment; Searching for a target line segment in all subsequent polyline segments according to the remaining distance; Determine the new current waypoint coordinates based on the starting point plane coordinates, direction vector, and remaining distance of the target segment, and continue searching for the next waypoint based on the new current waypoint coordinates; Verify whether the candidate waypoint is located on the polyline segment to be searched, including: The coordinate range is determined by the plane coordinates of the starting point and the end point corresponding to the polyline segment to be searched; Comparing the candidate waypoint coordinates with a coordinate range; In response to the candidate waypoint coordinates not being within the coordinate range, the candidate waypoint is not on the polyline segment to be searched; In response to the candidate waypoint coordinates being within the coordinate range, performing function fitting according to the starting plane coordinates and the end point coordinates corresponding to the polyline segment to be searched, and determining whether the candidate waypoint coordinates satisfy the fitting function; In response to the candidate waypoint coordinates satisfying the fitting function, the waypoint is selected to be on the polyline segment to be searched.

[0004] In combination with the first implementable manner of the first aspect, in a second implementable manner of the first aspect, obtaining a centerline discrete point sequence of the inspection road includes: A local plane coordinate system is constructed with the starting point of the inspection road as the center, and the position coordinates of all endpoints in the centerline discrete point sequence are converted to the local plane coordinate system.

[0005] In combination with the first implementable manner of the first aspect, in a third implementable manner of the first aspect, obtaining the waypoint spacing of the inspection road includes: Plan the optimal inspection altitude based on the inspection drone's equipment parameters; The waypoint spacing is calculated based on the optimal altitude and in combination with the set lateral overlap rate, camera focal length and image parameters.

[0006] In conjunction with the first implementable manner of the first aspect, in a fourth implementable manner of the first aspect, calculating the remaining distance to be moved subsequently includes: Calculate the straight-line distance from the previous waypoint to the end point of the polyline segment to be searched based on the coordinates of the current waypoint and the coordinates of the end point of the polyline segment to be searched; The remaining distance to be moved is calculated using the straight-line distance and the distance between waypoints.

[0007] In combination with the first implementable manner of the first aspect, in a fifth implementable manner of the first aspect, searching for a target line segment in subsequent polyline segments according to the remaining distance includes: Comparing the line segment lengths corresponding to subsequent broken line segments with the remaining distance in sequence; In response to a line segment length of a subsequent polyline segment exceeding the remaining distance, the polyline segment is used as a target line segment; In response to the line segment lengths of all subsequent polyline segments being less than the remaining distance, the remaining distance is updated based on the length of the next polyline segment of the polyline segment to be searched, and the target line segment is searched again.

[0008] In combination with the first possible implementation of the first aspect, a sixth possible implementation of the first aspect further includes: Calculate the distance between the current waypoint and the inspection endpoint based on the corresponding coordinates, and determine whether the distance between the points is less than the waypoint distance; In response to the point spacing exceeding the waypoint spacing, continuing to search for the next waypoint; In response to the point distance being less than the waypoint distance, the waypoint search is stopped.

[0009] In a second aspect, a method for planning a flight path is provided. In a first possible implementation of the second aspect, the method includes: Using the UAV line-flight waypoint search method as described in any one of the first to sixth possible implementations of the first aspect, searching for a set of waypoints corresponding to the inspection road; Convert the coordinates of all waypoints in the waypoint set into longitude and latitude, and perform yaw correction on the converted waypoint set; The simulated flight route is planned through the corrected waypoint set.

[0010] In conjunction with the first implementable manner of the second aspect, in a second implementable manner of the second aspect, performing yaw correction on the waypoints in the waypoint set includes: Calculate the azimuth of the preceding and following segments of the waypoint to be corrected based on the latitude and longitude of the preceding and following waypoints adjacent to the waypoint to be corrected; The heading angle of the waypoint to be corrected is corrected according to the average value of the azimuth angles of the preceding and succeeding flight segments.

[0011] In a third aspect, a flight path planning system is provided, comprising: A waypoint search module configured to use the UAV line-flight waypoint search method as described in any one of the first to sixth possible implementations of the first aspect to search for a set of waypoints corresponding to the inspection road; a waypoint correction module configured to convert the coordinates of all waypoints in the waypoint set into longitude and latitude, and perform yaw correction on the converted waypoint set; The route planning module is configured to plan a linear flight route using the corrected waypoint set.

[0012] Beneficial effect: The UAV linear flight waypoint search method, route planning method and system of the present invention can automatically generate inspection waypoints distributed along the center line of the inspection road according to the discrete point sequence of the center line corresponding to the inspection road and the waypoint spacing obtained by adaptively calculating the width of the inspection road and the performance parameters of the UAV through plane geometry calculation, thereby improving the efficiency of the linear flight inspection route planning of UAVs on long linear roads, and enabling the UAV to inspect along the center line of the road, avoiding the occurrence of angular offset between the image and the extension direction of the road, incomplete coverage of two-way lanes, and deviation from the inspection target in scenes such as curves and forks. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the specific embodiments of the present invention, the following briefly introduces the drawings required for use in the specific embodiments. In all the drawings, each element or part is not necessarily drawn according to the actual scale.

[0014] Figure 1 A flowchart of a method for searching waypoints for a UAV linear flight according to an embodiment of the present invention; Figure 2 This is a flow chart of a method for planning a linear flight route provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0015] The following embodiments of the technical solution of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and are therefore only examples and are not intended to limit the scope of protection of the present invention.

[0016] like Figure 1 The flowchart of the UAV linear flight waypoint search method shown in FIG. 1 includes: Step 1: Obtain the centerline discrete point sequence and waypoint spacing of the inspection road; Step 2: Determine the direction vector of the polyline segment to be searched based on the corresponding endpoint coordinates in the centerline discrete point sequence; Step 3: Based on the current waypoint coordinates, combined with the direction vector and the waypoint distance, determine the candidate waypoint coordinates; Step 4: Verify whether the candidate waypoint is located on the polyline segment to be searched based on the candidate waypoint coordinates; In response to the candidate waypoint being located on the polyline segment to be searched, taking the candidate waypoint as the current waypoint and continuing to search for the next waypoint according to the coordinates of the current waypoint; In response to the candidate waypoint not being located on the to-be-searched polyline segment, calculating a remaining distance to be subsequently moved after moving along the to-be-searched polyline segment; Step 5: Search for a target line segment in all subsequent broken line segments according to the remaining distance; Step 6: Determine the current waypoint coordinates using the starting plane coordinates, direction vector, and remaining distance of the target segment.

[0017] Specifically, first, the road centerline can be extracted from the surveying and mapping data corresponding to the inspection road. The road centerline is composed of multiple continuous broken line segments. The endpoint coordinates of each broken line segment can be obtained through discrete point sampling to generate a corresponding centerline discrete point sequence, and the waypoint spacing between each waypoint in the simulated inspection route corresponding to the inspection road can be set. Then, the starting point of the simulated inspection route can be set on the road centerline, and the starting point can be used as the current waypoint. The broken line segment where the current waypoint is located can be determined based on the waypoint coordinates. This broken line segment is the broken line segment to be searched, and the corresponding direction vector can be calculated based on the endpoint coordinates of the broken line segment to be searched. The specific calculation formula is as follows: ; in, 、 are the polyline segments to be searched The starting and ending coordinates of .

[0018] After that, the coordinates of the candidate waypoints can be determined based on the current waypoint coordinates, the direction vector of the polyline segment to be searched, and the set waypoint spacing. The specific calculation formula is as follows: ; in, is the current waypoint coordinate, is the waypoint distance.

[0019] Since the candidate waypoints determined using the above method may lie outside the polyline segment to be searched, after determining the coordinates of the candidate waypoint, it is necessary to verify whether the candidate waypoint is on the polyline segment to be searched based on the coordinates of the candidate waypoint. If it is on the polyline segment to be searched, the candidate waypoint can be included in the waypoint set and used as the new current waypoint. The search for the next waypoint along the road centerline continues using the above method.

[0020] If the drone is not on the polyline segment to be searched, it is necessary to cross the segment. Specifically, first, the straight-line distance from the previous waypoint to the end point of the polyline segment to be searched can be used, and then the remaining distance that the drone needs to move after moving to the end point of the polyline segment to be searched can be calculated based on the set waypoint spacing. The specific calculation formula is as follows: ; ; in, is the remaining distance, is the straight-line distance from the previous waypoint to the end point of the polyline segment to be searched, For polyline segments The end point coordinates of the polyline segment The starting point coordinates of .

[0021] Then, the polyline segment whose length exceeds the remaining distance can be searched in the polyline segment to be searched as the target segment. Finally, the direction vector corresponding to the target segment can be calculated according to the above direction vector calculation method, and the starting coordinates of the target segment and the remaining distance can be combined to search for the waypoints that meet the waypoint spacing in the target segment. The specific calculation formula is: ; ; in, The starting coordinates of the target line segment , is the segment length of the target segment, is the end point coordinate of the target line segment, is the direction vector corresponding to the target segment, The waypoint found on the target line segment can be used as the new current waypoint, and the next waypoint can be searched along the road centerline according to the above method.

[0022] In this way, the line-simulating inspection waypoints of the inspection road can be automatically generated according to the set waypoint spacing, thereby improving the efficiency of the line-simulating flight inspection route planning of UAVs on long linear roads.

[0023] In this embodiment, optionally, obtaining a centerline discrete point sequence of the inspection road includes: A local plane coordinate system is constructed with the starting point of the inspection road as the center, and the position coordinates of all endpoints in the centerline discrete point sequence are converted to the local plane coordinate system.

[0024] Specifically, in order to improve the efficiency and accuracy of geometric calculations, after obtaining the centerline discrete point sequence, the coordinates of each endpoint in the centerline discrete point sequence can be converted to a local plane coordinate system centered on the starting point of the inspection road, so as to simplify the subsequent waypoint search from spherical calculation to plane solution. The specific calculation formula is as follows: ; ; in, is the radius of the Earth, is the endpoint coordinate before transformation, is the starting point coordinate, is the transformed endpoint coordinate, 、 They are Axis coordinates and The conversion factor corresponding to the axis coordinates.

[0025] In this embodiment, optionally, obtaining the distance between waypoints on the inspection road includes: Plan the optimal inspection altitude based on the inspection drone's equipment parameters; The waypoint spacing is calculated based on the optimal altitude and in combination with the set lateral overlap rate, camera focal length and image parameters.

[0026] Specifically, the altitude of inspection waypoints affects the coverage and spatial resolution of inspection images. Manually setting waypoints makes it difficult to achieve a balance between spatial resolution and coverage. If the altitude of the waypoints is too low, image coverage will be insufficient. However, if the altitude is too high, ground resolution will decrease, making it difficult to detect details such as cracks and markings.

[0027] To this end, the optimal flight altitude corresponding to the inspection process can be calculated by combining the equipment parameters of the inspection drone and the width of the inspection road. The specific calculation formula is as follows: ; in, is the focal length of the drone's camera, is the sensor pixel size, is the number of horizontal pixels in the image, The width of the inspection road.

[0028] Then, based on the optimal altitude, the waypoint spacing is adaptively set in combination with the manually set lateral overlap rate, camera focal length, and image parameters. The specific calculation formula is as follows: ; in, To affect the number of vertical pixels, is the lateral overlap ratio.

[0029] Searching for waypoints based on adaptive calculation of waypoint spacing can ensure that the searched waypoint set strictly sets the straight-line distance between adjacent waypoints according to the waypoint distance, ensuring that the drone can fully cover the inspection roads in the waypoint area while avoiding reducing the spatial resolution of the inspection results to meet the needs of detailed detection such as cracks and markings.

[0030] In this embodiment, optionally, verifying whether the candidate waypoint is located on the polyline segment to be searched includes: The coordinate range is determined by the plane coordinates of the starting point and the end point corresponding to the polyline segment to be searched; Comparing the candidate waypoint coordinates with a coordinate range; In response to the candidate waypoint coordinates not being within the coordinate range, the candidate waypoint is not on the polyline segment to be searched; In response to the candidate waypoint coordinates being within the coordinate range, performing function fitting according to the starting plane coordinates and the end point coordinates corresponding to the polyline segment to be searched, and determining whether the candidate waypoint coordinates satisfy the fitting function; In response to the candidate waypoint coordinates satisfying the fitting function, the waypoint is selected to be on the polyline segment to be searched.

[0031] Specifically, the coordinates of the candidate waypoints found can be compared with the following verification conditions. If the candidate waypoint coordinates meet all of the following verification conditions, it means that the candidate waypoint is on the polyline segment to be searched. The verification conditions are as follows: ; Among them, the above verification conditions can be obtained by solving the starting point coordinates and end point coordinates of the line segment to be searched. and , and is the coefficient corresponding to the fitting function. The candidate waypoint coordinates.

[0032] In this embodiment, optionally, the following is further included: Calculate the distance between the current waypoint and the inspection endpoint based on the corresponding coordinates, and determine whether the distance between the points is less than the waypoint distance; In response to the point spacing exceeding the waypoint spacing, continuing to search for the next waypoint; In response to the point distance being less than the waypoint distance, the waypoint search is stopped.

[0033] Specifically, after searching for a new waypoint, before searching for the next waypoint, it is necessary to determine whether the distance between the current waypoint and the end point of the inspection route is sufficient for the waypoint search. Specifically, the distance between the current waypoint and the inspection end point can be calculated based on the coordinates of the current waypoint and the coordinates of the inspection end point. The specific calculation formula is as follows: ; in, is the inspection endpoint coordinate, is the point spacing.

[0034] The calculated point spacing is then compared with the waypoint spacing. If the point spacing exceeds the waypoint spacing, the search for the next waypoint can continue. Otherwise, the current waypoint is the final waypoint and the waypoint search stops.

[0035] like Figure 2 The flowchart of the linear flight route planning method shown in FIG. 1 includes: Step S1: Use the above-mentioned UAV line-flight waypoint search method to search for a set of waypoints corresponding to the inspection road; Step S2: converting the coordinates of all waypoints in the waypoint set into longitude and latitude, and performing yaw correction on the converted waypoint set; Step S3: planning a flight path based on the corrected waypoint set.

[0036] Specifically, first, the above-mentioned search method can be used to automatically search for each waypoint along the inspection route along the road centerline to generate a corresponding waypoint set. Then, since the waypoint set is constructed based on a local plane coordinate system, the coordinates of all waypoints in the waypoint set can be converted to longitude and latitude, and the converted waypoints can be yaw-corrected to avoid angular deviation between the inspection image and the road extension direction. The specific longitude and latitude conversion calculation formula is as follows: ; in, is the waypoint coordinate. is the latitude and longitude of the waypoint.

[0037] Finally, the flight route of the inspection UAV can be automatically generated based on the corrected waypoint set.

[0038] In this embodiment, optionally, performing yaw correction on the waypoints in the waypoint set includes: Calculate the azimuth of the preceding and following segments of the waypoint to be corrected based on the latitude and longitude of the preceding and following waypoints adjacent to the waypoint to be corrected; The heading angle of the waypoint to be corrected is corrected according to the average value of the azimuth angles of the preceding and succeeding flight segments.

[0039] Specifically, first, the longitude difference can be calculated based on the latitude and longitude of the previous and next waypoints adjacent to the waypoint to be corrected. The specific calculation formula is as follows: ; Then, the azimuth component is calculated based on the calculated longitude difference. The specific calculation formula is as follows: ; ; in, is the latitude of the waypoint to be corrected, 、 are the latitudes of the previous and next waypoints, 、 are the longitude differences between the waypoint to be corrected and the previous and next waypoints, respectively. 、 are the azimuth components between the waypoint to be corrected and the previous waypoint and the next waypoint, respectively.

[0040] Afterwards, the azimuth of the waypoint to be corrected can be calculated based on the calculated azimuth component , the specific calculation formula is as follows: ; in, 、 They are the front azimuth and the rear azimuth respectively. Finally, the azimuth of the waypoint to be corrected can be Correct the heading angle of the waypoint. The specific correction calculation formula is: .

[0041] in, is the corrected flight yaw angle.

[0042] A flight path planning system comprising: A waypoint search module is configured as the above-mentioned UAV line-flight waypoint search method to search for a set of waypoints corresponding to the inspection road; a waypoint correction module configured to convert the coordinates of all waypoints in the waypoint set into longitude and latitude, and perform yaw correction on the converted waypoint set; The route planning module is configured to plan a linear flight route using the corrected waypoint set.

[0043] Specifically, the planning system includes a waypoint search module, a waypoint correction module, and a route planning module. Among them, the waypoint search module can use the above-mentioned search method to automatically search for each waypoint of the inspection route along the centerline of the road and generate a corresponding waypoint set. The waypoint correction module can convert the coordinates of all waypoints in the waypoint set into longitude and latitude, and perform yaw correction on the converted waypoints to avoid angular offset between the inspection image and the extension direction of the road. The route planning module can automatically generate a linear flight route for the inspection UAV based on the corrected waypoint set, thereby realizing automatic planning of the linear route of the inspection UAV and improving the efficiency of planning the linear flight inspection route of the UAV on long linear roads.

[0044] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. A method for searching waypoints for a UAV's linear flight, characterized in that: include: Obtain the centerline discrete point sequence and waypoint spacing of the inspection road; According to the corresponding endpoint coordinates in the centerline discrete point sequence, the direction vector of the polyline segment to be searched is determined. The polyline segment to be searched is the polyline segment of the road centerline where the current waypoint is located. The current waypoint is the most recently searched waypoint. Based on the current waypoint coordinates, combined with the direction vector and the waypoint distance, the candidate waypoint coordinates are determined. The specific calculation formula is as follows: ； in, is the current waypoint coordinate, is the waypoint distance, is the direction vector; Verify whether the candidate waypoint is located on the polyline segment to be searched according to the candidate waypoint coordinates; In response to the candidate waypoint being located on the to-be-searched polyline segment, taking the candidate waypoint as a new current waypoint, and continuing to search for the next waypoint based on the new current waypoint coordinates; In response to the candidate waypoint not being located on the to-be-searched polyline segment, calculating a remaining distance to be subsequently moved after moving along the to-be-searched polyline segment; Searching for a target line segment in all subsequent polyline segments according to the remaining distance; Determine the new current waypoint coordinates based on the starting point plane coordinates, direction vector, and remaining distance of the target segment, and continue searching for the next waypoint based on the new current waypoint coordinates; Verify whether the candidate waypoint is located on the polyline segment to be searched, including: The coordinate range is determined by the plane coordinates of the starting point and the end point corresponding to the polyline segment to be searched; Comparing the candidate waypoint coordinates with a coordinate range; In response to the candidate waypoint coordinates not being within the coordinate range, the candidate waypoint is not on the polyline segment to be searched; In response to the candidate waypoint coordinates being within the coordinate range, performing function fitting according to the starting plane coordinates and the end point coordinates corresponding to the polyline segment to be searched, and determining whether the candidate waypoint coordinates satisfy the fitting function; In response to the candidate waypoint coordinates satisfying the fitting function, the waypoint is selected to be on the polyline segment to be searched.

2. The method for searching waypoints for unmanned aerial vehicle line-flight according to claim 1, wherein: Obtain a sequence of discrete centerline points on the inspection road, including: A local plane coordinate system is constructed with the starting point of the inspection road as the center, and the position coordinates of all endpoints in the centerline discrete point sequence are converted to the local plane coordinate system.

3. The method for searching waypoints for unmanned aerial vehicle line-flight according to claim 1, wherein: Get the distance between waypoints on the inspection road, including: Plan the optimal inspection altitude based on the inspection drone's equipment parameters; The waypoint spacing is calculated based on the optimal altitude and in combination with the set lateral overlap rate, camera focal length and image parameters.

4. The method for searching waypoints for unmanned aerial vehicle (UAV) line-flight according to claim 1, wherein: Calculate the remaining distance to be moved, including: Calculate the straight-line distance from the previous waypoint to the end point of the polyline segment to be searched based on the coordinates of the current waypoint and the coordinates of the end point of the polyline segment to be searched; The remaining distance to be moved is calculated using the straight-line distance and the distance between waypoints.

5. The method for searching waypoints for unmanned aerial vehicle line-flight according to claim 1, wherein: Searching for a target line segment in subsequent polyline segments according to the remaining distance includes: Comparing the line segment lengths corresponding to subsequent broken line segments with the remaining distance in sequence; In response to a line segment length of a subsequent polyline segment exceeding the remaining distance, the polyline segment is used as a target line segment; In response to the line segment lengths of all subsequent polyline segments being less than the remaining distance, the remaining distance is updated based on the length of the next polyline segment of the polyline segment to be searched, and the target line segment is searched again.

6. The method for searching waypoints for unmanned aerial vehicle line-flight according to claim 1, wherein: Also includes: Calculate the distance between the current waypoint and the inspection endpoint based on the corresponding coordinates, and determine whether the distance between the points is less than the waypoint distance; In response to the point spacing exceeding the waypoint spacing, continuing to search for the next waypoint; In response to the point distance being less than the waypoint distance, the waypoint search is stopped.

7. A method for planning a flight path, characterized in that: include: Using the UAV line-flight waypoint search method according to any one of claims 1 to 6, a set of waypoints corresponding to the inspection road is searched; Convert the coordinates of all waypoints in the waypoint set into longitude and latitude, and perform yaw correction on the converted waypoint set; The simulated flight route is planned through the corrected waypoint set.

8. The method for planning a flight path according to claim 7, wherein: Perform yaw correction on the waypoints in the waypoint set, including: Calculate the azimuth of the preceding and following segments of the waypoint to be corrected based on the latitude and longitude of the preceding and following waypoints adjacent to the waypoint to be corrected; The heading angle of the waypoint to be corrected is corrected according to the average value of the azimuth angles of the preceding and succeeding flight segments.

9. A linear flight route planning system, characterized in that: include: A waypoint search module configured to use the UAV line-flight waypoint search method according to any one of claims 1 to 6 to search for a set of waypoints corresponding to the inspection road; a waypoint correction module configured to convert the coordinates of all waypoints in the waypoint set into longitude and latitude, and perform yaw correction on the converted waypoint set; The route planning module is configured to plan a linear flight route using the corrected waypoint set.

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